mirror of https://github.com/Desuuuu/klipper.git
345 lines
12 KiB
Python
345 lines
12 KiB
Python
# Protocol definitions for firmware communication
|
|
#
|
|
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import json, zlib, logging
|
|
|
|
DefaultMessages = {
|
|
0: "identify_response offset=%u data=%.*s",
|
|
1: "identify offset=%u count=%c",
|
|
}
|
|
|
|
MESSAGE_MIN = 5
|
|
MESSAGE_MAX = 64
|
|
MESSAGE_HEADER_SIZE = 2
|
|
MESSAGE_TRAILER_SIZE = 3
|
|
MESSAGE_POS_LEN = 0
|
|
MESSAGE_POS_SEQ = 1
|
|
MESSAGE_TRAILER_CRC = 3
|
|
MESSAGE_TRAILER_SYNC = 1
|
|
MESSAGE_PAYLOAD_MAX = MESSAGE_MAX - MESSAGE_MIN
|
|
MESSAGE_SEQ_MASK = 0x0f
|
|
MESSAGE_DEST = 0x10
|
|
MESSAGE_SYNC = '\x7E'
|
|
|
|
class error(Exception):
|
|
pass
|
|
|
|
def crc16_ccitt(buf):
|
|
crc = 0xffff
|
|
for data in buf:
|
|
data = ord(data)
|
|
data ^= crc & 0xff
|
|
data ^= (data & 0x0f) << 4
|
|
crc = ((data << 8) | (crc >> 8)) ^ (data >> 4) ^ (data << 3)
|
|
crc = chr(crc >> 8) + chr(crc & 0xff)
|
|
return crc
|
|
|
|
class PT_uint32:
|
|
is_int = 1
|
|
max_length = 5
|
|
signed = 0
|
|
def encode(self, out, v):
|
|
if v >= 0xc000000 or v < -0x4000000: out.append((v>>28) & 0x7f | 0x80)
|
|
if v >= 0x180000 or v < -0x80000: out.append((v>>21) & 0x7f | 0x80)
|
|
if v >= 0x3000 or v < -0x1000: out.append((v>>14) & 0x7f | 0x80)
|
|
if v >= 0x60 or v < -0x20: out.append((v>>7) & 0x7f | 0x80)
|
|
out.append(v & 0x7f)
|
|
def parse(self, s, pos):
|
|
c = s[pos]
|
|
pos += 1
|
|
v = c & 0x7f
|
|
if (c & 0x60) == 0x60:
|
|
v |= -0x20
|
|
while c & 0x80:
|
|
c = s[pos]
|
|
pos += 1
|
|
v = (v<<7) | (c & 0x7f)
|
|
if not self.signed:
|
|
v = int(v & 0xffffffff)
|
|
return v, pos
|
|
|
|
class PT_int32(PT_uint32):
|
|
signed = 1
|
|
class PT_uint16(PT_uint32):
|
|
max_length = 3
|
|
class PT_int16(PT_int32):
|
|
signed = 1
|
|
max_length = 3
|
|
class PT_byte(PT_uint32):
|
|
max_length = 2
|
|
|
|
class PT_string:
|
|
is_int = 0
|
|
max_length = 64
|
|
def encode(self, out, v):
|
|
out.append(len(v))
|
|
out.extend(bytearray(v))
|
|
def parse(self, s, pos):
|
|
l = s[pos]
|
|
return str(bytearray(s[pos+1:pos+l+1])), pos+l+1
|
|
class PT_progmem_buffer(PT_string):
|
|
pass
|
|
class PT_buffer(PT_string):
|
|
pass
|
|
|
|
MessageTypes = {
|
|
'%u': PT_uint32(), '%i': PT_int32(),
|
|
'%hu': PT_uint16(), '%hi': PT_int16(),
|
|
'%c': PT_byte(),
|
|
'%s': PT_string(), '%.*s': PT_progmem_buffer(), '%*s': PT_buffer(),
|
|
}
|
|
|
|
# Update the message format to be compatible with python's % operator
|
|
def convert_msg_format(msgformat):
|
|
mf = msgformat.replace('%c', '%u')
|
|
mf = mf.replace('%.*s', '%s').replace('%*s', '%s')
|
|
return mf
|
|
|
|
class MessageFormat:
|
|
def __init__(self, msgid, msgformat):
|
|
self.msgid = msgid
|
|
self.msgformat = msgformat
|
|
self.debugformat = convert_msg_format(msgformat)
|
|
parts = msgformat.split()
|
|
self.name = parts[0]
|
|
argparts = [arg.split('=') for arg in parts[1:]]
|
|
self.param_types = [MessageTypes[fmt] for name, fmt in argparts]
|
|
self.param_names = [(name, MessageTypes[fmt]) for name, fmt in argparts]
|
|
self.name_to_type = dict(self.param_names)
|
|
def encode(self, params):
|
|
out = []
|
|
out.append(self.msgid)
|
|
for i, t in enumerate(self.param_types):
|
|
t.encode(out, params[i])
|
|
return out
|
|
def encode_by_name(self, **params):
|
|
out = []
|
|
out.append(self.msgid)
|
|
for name, t in self.param_names:
|
|
t.encode(out, params[name])
|
|
return out
|
|
def parse(self, s, pos):
|
|
pos += 1
|
|
out = {}
|
|
for name, t in self.param_names:
|
|
v, pos = t.parse(s, pos)
|
|
out[name] = v
|
|
return out, pos
|
|
def format_params(self, params):
|
|
out = []
|
|
for name, t in self.param_names:
|
|
v = params[name]
|
|
if not t.is_int:
|
|
v = repr(v)
|
|
out.append(v)
|
|
return self.debugformat % tuple(out)
|
|
|
|
class OutputFormat:
|
|
name = '#output'
|
|
def __init__(self, msgid, msgformat):
|
|
self.msgid = msgid
|
|
self.msgformat = msgformat
|
|
self.debugformat = convert_msg_format(msgformat)
|
|
self.param_types = []
|
|
args = msgformat
|
|
while 1:
|
|
pos = args.find('%')
|
|
if pos < 0:
|
|
break
|
|
if pos+1 >= len(args) or args[pos+1] != '%':
|
|
for i in range(4):
|
|
t = MessageTypes.get(args[pos:pos+1+i])
|
|
if t is not None:
|
|
self.param_types.append(t)
|
|
break
|
|
else:
|
|
raise error("Invalid output format for '%s'" % (msg,))
|
|
args = args[pos+1:]
|
|
def parse(self, s, pos):
|
|
pos += 1
|
|
out = []
|
|
for t in self.param_types:
|
|
v, pos = t.parse(s, pos)
|
|
if not t.is_int:
|
|
v = repr(v)
|
|
out.append(v)
|
|
outmsg = self.debugformat % tuple(out)
|
|
return {'#msg': outmsg}, pos
|
|
def format_params(self, params):
|
|
return "#output %s" % (params['#msg'],)
|
|
|
|
class UnknownFormat:
|
|
name = '#unknown'
|
|
def parse(self, s, pos):
|
|
msgid = s[pos]
|
|
msg = str(bytearray(s))
|
|
return {'#msgid': msgid, '#msg': msg}, len(s)-MESSAGE_TRAILER_SIZE
|
|
def format_params(self, params):
|
|
return "#unknown %s" % (repr(params['#msg']),)
|
|
|
|
class MessageParser:
|
|
error = error
|
|
def __init__(self):
|
|
self.unknown = UnknownFormat()
|
|
self.command_ids = []
|
|
self.messages_by_id = {}
|
|
self.messages_by_name = {}
|
|
self.static_strings = {}
|
|
self.config = {}
|
|
self.version = self.build_versions = ""
|
|
self.raw_identify_data = ""
|
|
self._init_messages(DefaultMessages, DefaultMessages.keys())
|
|
def check_packet(self, s):
|
|
if len(s) < MESSAGE_MIN:
|
|
return 0
|
|
msglen = ord(s[MESSAGE_POS_LEN])
|
|
if msglen < MESSAGE_MIN or msglen > MESSAGE_MAX:
|
|
return -1
|
|
msgseq = ord(s[MESSAGE_POS_SEQ])
|
|
if (msgseq & ~MESSAGE_SEQ_MASK) != MESSAGE_DEST:
|
|
return -1
|
|
if len(s) < msglen:
|
|
# Need more data
|
|
return 0
|
|
if s[msglen-MESSAGE_TRAILER_SYNC] != MESSAGE_SYNC:
|
|
return -1
|
|
msgcrc = s[msglen-MESSAGE_TRAILER_CRC:msglen-MESSAGE_TRAILER_CRC+2]
|
|
crc = crc16_ccitt(s[:msglen-MESSAGE_TRAILER_SIZE])
|
|
if crc != msgcrc:
|
|
#logging.debug("got crc %s vs %s", repr(crc), repr(msgcrc))
|
|
return -1
|
|
return msglen
|
|
def dump(self, s):
|
|
msgseq = s[MESSAGE_POS_SEQ]
|
|
out = ["seq: %02x" % (msgseq,)]
|
|
pos = MESSAGE_HEADER_SIZE
|
|
while 1:
|
|
msgid = s[pos]
|
|
mid = self.messages_by_id.get(msgid, self.unknown)
|
|
params, pos = mid.parse(s, pos)
|
|
out.append(mid.format_params(params))
|
|
if pos >= len(s)-MESSAGE_TRAILER_SIZE:
|
|
break
|
|
return out
|
|
def format_params(self, params):
|
|
name = params.get('#name')
|
|
mid = self.messages_by_name.get(name)
|
|
if mid is not None:
|
|
return mid.format_params(params)
|
|
msg = params.get('#msg')
|
|
if msg is not None:
|
|
return "%s %s" % (name, msg)
|
|
return str(params)
|
|
def parse(self, s):
|
|
msgid = s[MESSAGE_HEADER_SIZE]
|
|
mid = self.messages_by_id.get(msgid, self.unknown)
|
|
params, pos = mid.parse(s, MESSAGE_HEADER_SIZE)
|
|
if pos != len(s)-MESSAGE_TRAILER_SIZE:
|
|
raise error("Extra data at end of message")
|
|
params['#name'] = mid.name
|
|
static_string_id = params.get('static_string_id')
|
|
if static_string_id is not None:
|
|
params['#msg'] = self.static_strings.get(static_string_id, "?")
|
|
return params
|
|
def encode(self, seq, cmd):
|
|
msglen = MESSAGE_MIN + len(cmd)
|
|
seq = (seq & MESSAGE_SEQ_MASK) | MESSAGE_DEST
|
|
out = [chr(msglen), chr(seq), cmd]
|
|
out.append(crc16_ccitt(''.join(out)))
|
|
out.append(MESSAGE_SYNC)
|
|
return ''.join(out)
|
|
def _parse_buffer(self, value):
|
|
if not value:
|
|
return []
|
|
tval = int(value, 16)
|
|
out = []
|
|
for i in range(len(value) // 2):
|
|
out.append(tval & 0xff)
|
|
tval >>= 8
|
|
out.reverse()
|
|
return out
|
|
def lookup_command(self, msgformat):
|
|
parts = msgformat.strip().split()
|
|
msgname = parts[0]
|
|
mp = self.messages_by_name.get(msgname)
|
|
if mp is None:
|
|
raise error("Unknown command: %s" % (msgname,))
|
|
if msgformat != mp.msgformat:
|
|
raise error("Command format mismatch: %s vs %s" % (
|
|
msgformat, mp.msgformat))
|
|
return mp
|
|
def create_command(self, msg):
|
|
parts = msg.strip().split()
|
|
if not parts:
|
|
return ""
|
|
msgname = parts[0]
|
|
mp = self.messages_by_name.get(msgname)
|
|
if mp is None:
|
|
raise error("Unknown command: %s" % (msgname,))
|
|
try:
|
|
argparts = dict(arg.split('=', 1) for arg in parts[1:])
|
|
for name, value in argparts.items():
|
|
t = mp.name_to_type[name]
|
|
if t.is_int:
|
|
tval = int(value, 0)
|
|
else:
|
|
tval = self._parse_buffer(value)
|
|
argparts[name] = tval
|
|
except:
|
|
#traceback.print_exc()
|
|
raise error("Unable to extract params from: %s" % (msgname,))
|
|
try:
|
|
cmd = mp.encode_by_name(**argparts)
|
|
except:
|
|
#traceback.print_exc()
|
|
raise error("Unable to encode: %s" % (msgname,))
|
|
return cmd
|
|
def _init_messages(self, messages, parsers):
|
|
for msgid, msgformat in messages.items():
|
|
msgid = int(msgid)
|
|
if msgid not in parsers:
|
|
self.messages_by_id[msgid] = OutputFormat(msgid, msgformat)
|
|
continue
|
|
msg = MessageFormat(msgid, msgformat)
|
|
self.messages_by_id[msgid] = msg
|
|
self.messages_by_name[msg.name] = msg
|
|
def process_identify(self, data, decompress=True):
|
|
try:
|
|
if decompress:
|
|
data = zlib.decompress(data)
|
|
self.raw_identify_data = data
|
|
data = json.loads(data)
|
|
messages = data.get('messages')
|
|
commands = data.get('commands')
|
|
self.command_ids = commands
|
|
responses = data.get('responses')
|
|
self._init_messages(messages, commands+responses)
|
|
static_strings = data.get('static_strings', {})
|
|
self.static_strings = {int(k): v for k, v in static_strings.items()}
|
|
self.config.update(data.get('config', {}))
|
|
self.version = data.get('version', '')
|
|
self.build_versions = data.get('build_versions', '')
|
|
except error as e:
|
|
raise
|
|
except Exception as e:
|
|
logging.exception("process_identify error")
|
|
raise error("Error during identify: %s" % (str(e),))
|
|
class sentinel: pass
|
|
def get_constant(self, name, default=sentinel, parser=str):
|
|
if name not in self.config:
|
|
if default is not self.sentinel:
|
|
return default
|
|
raise error("Firmware constant '%s' not found" % (name,))
|
|
try:
|
|
value = parser(self.config[name])
|
|
except:
|
|
raise error("Unable to parse firmware constant %s: %s" % (
|
|
name, self.config[name]))
|
|
return value
|
|
def get_constant_float(self, name, default=sentinel):
|
|
return self.get_constant(name, default, parser=float)
|
|
def get_constant_int(self, name, default=sentinel):
|
|
return self.get_constant(name, default, parser=int)
|